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Feb 29, 2008, 05:17 AM
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waypoint mission 4 U

To try to stop rate damping overflows, clamped the raw unsigned gyros to 16384-49152. Now assuming the gyro center & Vref R close to 32768, the PWM feedback can't wrap. Unfortunately, clamping feedback results would require 32 bits for the entire sequence & no-one wants to risk another main shaft on a test.

Happily, she made it to all 3 waypoints on our waypoint program. Altitude hold failed after finishing the program & she could not maintain a hover.

She can turn 90' pretty easily, but forget about 180. Definitely need the target attitude in global frame if we're going to do any turns.

Unfortunately rcgroups images R broken, so you get links instead.

waypoint map

The satisfy radius is 5m, but it's meaningless with a copter. Maximum velocity was 2m/s. The practical limit with such a confined space is probably 1m/s.

altitude plot

Target altitude was 130m & collective was really well trimmed before flight.
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